smarts.core.lidar module

class smarts.core.lidar.Lidar(origin, sensor_params: SensorParams)

Lidar utilities.

compute_point_cloud(bullet_client) → Tuple[List[ndarray], List[int], List[Tuple[ndarray, ndarray]]]

Generate a point cloud. :returns: Point cloud of 3D points, a list of hit objects, a list of rays fired.

property origin

The center of the emission point of the lidar lasers.